Merge branch 'dev' of github.com:cram2/pycram into full-body-giskard

.devcontainer/README.md

@@ -0,0 +1,15 @@
+# How to use Dev container
+
+- Install Docker and the 'Devcontainer' extension in VSCode
+
+- Clone the repository and open the folder in VSCode
+
+- Use `Ctrl/Cmd + Shift + P` to open the command palette
+
+- Select 'Dev containers: Rebuild and Reopen in Container' Option
+
+- Wait for the container to finish setting up
+
+- Type this command into the terminal `roslaunch pycram ik_and_description.launch` to start roscore
+
+  - Note: Bullet world needs a display to be connected; the render mode needs to be set to direct when running on GitHub codespaces or on WindowOS; Otherwise, the kernel will crash

.devcontainer/devcontainer.json

@@ -0,0 +1,23 @@
+{
+  "name": "PyCRAM vscode devcontainer",
+  "image": "pycram/pycram:dev",
+  "features": {
+    "ghcr.io/devcontainers/features/git:1": {},
+    "ghcr.io/devcontainers/features/sshd:1": {}
+  },
+  "postStartCommand": {
+    "pip": "pip3 install ipykernel pyjpt",
+    "git": "git config --global --add safe.directory '*'",
+    "source setup": "./.devcontainer/script.sh"
+  },
+  "customizations": {
+    "vscode": {
+      "extensions": [
+        "ms-python.python",
+        "ms-python.vscode-pylance",
+        "ms-toolsai.jupyter",
+        "esbenp.prettier-vscode"
+      ]
+    }
+  }
+}

.devcontainer/script.sh

@@ -0,0 +1,7 @@
+#!/bin/bash
+
+set -e
+
+source /opt/ros/overlay_ws/devel/setup.bash
+
+exec "$@"

.github/workflows/new-pycram-ci.yml

@@ -44,7 +44,7 @@ jobs:
           rm -rf /opt/ros/overlay_ws/src/pycram/* 
           cd /opt/ros/overlay_ws/src/pycram
           rm -rf .git .github .gitignore .gitmodules .readthedocs.yaml
-          mv /__w/${{ github.event.repository.name }}/${{ github.event.repository.name }}/ros/src/pycram /opt/ros/overlay_ws/src
+          cp -r /__w/${{ github.event.repository.name }}/${{ github.event.repository.name }}/ros/src/pycram /opt/ros/overlay_ws/src
 
       - name: Remake workspace & start roscore
         run: |

binder/Dockerfile

@@ -0,0 +1,36 @@
+FROM intel4coro/base-notebook:20.04-noetic-full-xpra
+
+# Set environment
+ENV PATH=$PATH:/home/user/.local/bin
+ENV PYCRAM_WS=/home/${NB_USER}/workspace/ros
+WORKDIR ${PYCRAM_WS}/src/
+COPY --chown=${NB_USER}:users . pycram/
+RUN vcs import --input pycram/binder/pycram-http.rosinstall --recursive
+
+RUN pip install --requirement ${PYCRAM_WS}/src/pycram/binder/requirements.txt --user 
+
+COPY --chown=${NB_USER}:users binder/me ${PYCRAM_WS}/src/me
+
+USER root
+RUN apt-get update
+
+# Build pycram workspace
+WORKDIR  ${PYCRAM_WS}
+USER root
+RUN rosdep update \
+  && rosdep install -y --ignore-src --from-paths ./ -r \
+  && rosdep fix-permissions
+USER ${NB_USER}
+RUN catkin build
+
+RUN pip install service_identity
+
+# Jupyter Config
+COPY --chown=${NB_USER}:users binder/jupyter-config.json /opt/conda/share/jupyter/lab/settings/overrides.json
+
+WORKDIR ${PYCRAM_WS}/src/pycram
+RUN git config --global --add safe.directory ${PWD}
+COPY --chown=${NB_USER}:users binder/entrypoint.sh /
+ENTRYPOINT ["/entrypoint.sh"]
+CMD ["jupyter", "lab", "--allow-root", "--NotebookApp.token=''", "--no-browser", "--ip=0.0.0.0"]
+RUN pip install https://raw.githubusercontent.com/yxzhan/jupyterlab-rviz/master/dist/jupyterlab_rviz-0.3.1.tar.gz